PASCAL3D+. PASCAL3D+ datasets [1]} contains 12 categories of objects with 3D annotations from around 80 CAD models. Each category contains about 3000 objects on average. For fair comparison with previous works, we follow [2]} to use the categories with at least 8 points of annotation, and do not split the dataset into training and testing set. The ground truth 3D shapes and 2D observations are also zero-centered.
